Trajectory Generation using Predictive PID Control for Stable Walking Humanoid Robot

摘要

Abstract Predictive control presents a solution to the problem of the trajectory generation for a humanoid robot. This control strategy is introduced by Katayama 13 and improved by Kajita 1 , in those literatures, the theory of predictive control is used to calculate the trajectory of the mass center of the cart table to track a reference trajectory and give it for the ZMP. However this control has an inconvenience such as the non respect of real-time constraints, due to the computation time and the output response establishing. In this paper we propose the predictive PID controller that imitate the calculated time and reduce the complexity of the control algorithm. The aim of this new control approach for biped robot is to make walking smoother and more efficient.